Omnidirectional robot indoor localization by using vision sensors and artificial CCs beacons with coppeliasim program

The major goal of this project is to design and implement an indoor localization method for Omni-directional mobile robot based on trilateration technique, Color Code signatures (CCs) as artificial passive beacons, and vision sensor. The robot is guided by the vision sensor, which detects color-coded beacons. The artificial passive beacons are designed as three disks positioned one on top of the others with different sizes and colors (primary colors only, RGB). The three disks share the same center. The designed beacons are placed on the ceiling to be visible from most locations within the room. The robot's model, controller, and localization method are implemented and evaluated inside the CoppeliaSim environment. The simulation results show that the CCs detecting algorithm enables the robot to discover the designed beacons, achieve an accurate localization and reach the target.